diff --git a/__pycache__/generate_board.cpython-312.pyc b/__pycache__/generate_board.cpython-312.pyc
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diff --git a/__pycache__/newastar.cpython-312.pyc b/__pycache__/newastar.cpython-312.pyc
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diff --git a/newastar.py b/newastar.py
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+++ b/newastar.py
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+import pygame
+from board import Board
+from constant import width, height, rows, cols
+from tractor import Tractor
+from kolejka import Stan, Odwiedzone
+from queue import Queue
+from neuralnetwork import load_model
+import pandas as pd
+import heapq
+from dataclasses import dataclass, field
+
+data = pd.read_csv('dane.csv')
+
+
+from decisiontree import train_decision_tree
+
+model_path = 'model.pth'
+neuralnetwork_model = load_model(model_path)
+
+model, feature_columns = train_decision_tree(data)
+
+fps = 5
+WIN = pygame.display.set_mode((width, height))
+pygame.display.set_caption('Inteligentny Traktor')
+
+def heuristic(current_state, goal_state):
+    # Funkcja heurystyki (tu: Manhattan distance)
+    return abs(current_state.row - goal_state.row) + abs(current_state.col - goal_state.col)
+
+def goal_test(elem, board):
+    # Test celu: sprawdzenie, czy w bieżącej pozycji jest brud
+    return board.is_dirt(elem.row, elem.col)
+
+def cost(next_state, board):
+    if board.board[next_state.row][next_state.col] == 0:
+        this_cost = 100
+    elif board.board[next_state.row][next_state.col] == 1:
+        this_cost = 100
+    else:
+        this_cost = 1
+    print(board.vegetable_names[next_state.row][next_state.col], "   --->", this_cost)
+    return this_cost
+
+def actions(elem, istate):
+    # Śledzenie działań prowadzących od stanu początkowego do stanu docelowego
+    akcje = []
+    while elem.row != istate.row or elem.col != istate.col or elem.direction != istate.direction:
+        akcje.append(elem.a)
+        elem = elem.p[0]
+    return akcje[::-1]
+
+def find_next_goal(board, visited):
+    for row in range(rows):
+        for col in range(cols):
+            if board.is_dirt(row, col) and (row, col) not in visited:
+                return Stan(row, col, "down")
+    return None
+
+@dataclass(order=True)
+class PrioritizedItem:
+    priority: int
+    item: object = field(compare=False)
+
+def astar(istate, goalstate, board):
+    explored = Odwiedzone()
+    fringe = []
+    initial_priority = heuristic(istate, goalstate)
+    heapq.heappush(fringe, PrioritizedItem(initial_priority, istate))
+    moves = ["up", "left", "right"]
+    while fringe:
+        current = heapq.heappop(fringe).item
+        if goal_test(current, board):
+            return actions(current, istate), current
+        explored.dodaj_stan(current)
+        for action in moves:
+            stan = current.succ(action, board)
+            if stan is not None:
+                new_g = current.cost + cost(stan, board)
+                f = new_g + heuristic(stan, goalstate)
+                if not fringe_check(fringe, stan) and not explored.check(stan):
+                    stan.parrent(current, action)
+                    heapq.heappush(fringe, PrioritizedItem(f, stan))
+    return [], None
+
+def fringe_check(fringe, stan):
+    for item in fringe:
+        if stan.direction == item.item.direction and stan.col == item.item.col and stan.row == item.item.row:
+            return True
+    return False
+
+
+def main():
+    initial_state = Stan(9, 1, "down")
+    run = True
+    clock = pygame.time.Clock()
+
+    board = Board(load_from_file=True, filename='generated_board.npy')
+
+
+    tractor = Tractor(9, 1, model, feature_columns, neuralnetwork_model)
+    visited = set()
+
+    while run:
+        clock.tick(fps)
+
+        if all(not board.is_dirt(row, col) for row in range(rows) for col in range(cols)):
+            print("Traktor odwiedził wszystkie pola.")
+            break
+
+        goal_state = find_next_goal(board, visited)
+        if not goal_state:
+            print("Wszystkie pola zostały odwiedzone.")
+            break
+
+        akcje, nowy_stan = astar(initial_state, goal_state, board)
+
+        if not akcje:
+            print("Nie znaleziono ścieżki do najbliższego pola dirt.")
+            board = Board(load_from_file=True, filename='generated_board.npy')
+            initial_state = Stan(0, 1, "down")
+            tractor = Tractor(0, 1, model, feature_columns, neuralnetwork_model)
+            while board.is_rock(initial_state.row, initial_state.col):
+                board = Board(load_from_file=True, filename='generated_board.npy')
+            continue
+
+        print("akcje: >", akcje)
+
+        while akcje:
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    run = False
+
+            akcja = akcje.pop(0)
+            if akcja == "left":
+                tractor.turn_left()
+            elif akcja == "right":
+                tractor.turn_right()
+            elif akcja == "up":
+                tractor.move_forward(board)
+
+            board.draw_cubes(WIN)
+            tractor.draw(WIN)
+            pygame.display.update()
+
+        visited.add((nowy_stan.row, nowy_stan.col))
+        initial_state = nowy_stan
+        initial_state.direction = tractor.direction
+
+    while True:
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                return
+
+    pygame.quit()
+
+main()
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